CN113281786B - Full-airspace multistage trigger type GNSS space signal quality monitoring and evaluating method - Google Patents

Full-airspace multistage trigger type GNSS space signal quality monitoring and evaluating method Download PDF

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CN113281786B
CN113281786B CN202110612086.3A CN202110612086A CN113281786B CN 113281786 B CN113281786 B CN 113281786B CN 202110612086 A CN202110612086 A CN 202110612086A CN 113281786 B CN113281786 B CN 113281786B
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CN113281786A (en
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蔚保国
杨建雷
易卿武
李硕
邓志鑫
***
叶红军
刘亮
赵精博
郎兴康
郝硕
秦明峰
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CETC 54 Research Institute
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract

The invention discloses a full-airspace multistage triggering type GNSS space signal quality monitoring and evaluating method, and belongs to the technical field of GNSS space signal quality monitoring. The method includes the steps of adopting real-time data flow data of an iGMAS global tracking station, finding a visible suspected fault satellite in a full airspace, calling a medium-caliber antenna to carry out relevant field and measurement field relevant index analysis on the suspected fault satellite, determining whether the suspected fault satellite is the fault satellite, automatically calling a large-caliber antenna to carry out high-gain receiving and radio frequency signal low-distortion acquisition on the fault satellite after the fault satellite is determined, carrying out detailed monitoring and evaluation on a time domain, a frequency domain, a modulation field, a relevant field, a measurement field and the like, and analyzing specific fault reasons of the satellite. The method can realize global GNSS full-system monitoring by utilizing the monitoring stations distributed globally, and meet the requirement of rapidly discovering the full airspace faults.

Description

Full-airspace multistage trigger type GNSS space signal quality monitoring and evaluating method
Technical Field
The invention belongs to the technical field of GNSS space signal quality monitoring, and particularly relates to a full airspace multistage triggering type GNSS space signal quality monitoring and evaluating method.
Background
The problem of accurate monitoring and evaluation of GNSS spatial signal quality is an important link of construction and safe operation of a global satellite navigation system and is an internationally recognized major problem. With the completion of the construction of the Beidou navigation system III in China, the number of Beidou satellites is greatly increased, the complexity of effective loads is improved, the signal system is greatly changed, the constellation is gradually complicated, how to monitor and evaluate the quality of GNSS space signals in high quality in real time is realized, the stable operation of the Beidou system is guaranteed, and the big problem of the improvement of the system performance is solved.
The traditional space signal quality monitoring and evaluating method based on the large-aperture antenna can only carry out post evaluation on a single satellite in a visible range, and cannot realize the global GNSS full-system rapid monitoring. The traditional space signal quality monitoring and evaluating method based on the omnidirectional antenna cannot comprehensively monitor the navigation signal quality from multiple dimensions such as a time domain, a frequency domain, a modulation domain, a correlation domain, a measurement domain and the like, and cannot ensure the accuracy of space signal quality monitoring and evaluating.
Disclosure of Invention
In view of this, the present invention provides a full-airspace multistage triggered GNSS space signal quality monitoring and evaluating method. The method can realize global GNSS full-system monitoring by utilizing the monitoring stations distributed globally, and meets the requirement of rapidly discovering the full airspace faults.
In order to achieve the purpose, the invention adopts the technical scheme that:
a full airspace multistage triggering type GNSS space signal quality monitoring and evaluating method comprises the following steps:
(1) the method comprises the steps that observation data and ephemeris data of GNSS satellites are collected by a monitoring station based on global distribution;
(2) the method comprises the steps of integrating observation data and ephemeris data of all monitoring stations, performing data domain monitoring and evaluation on real-time data streams of global observation satellites, and evaluating whether the satellites are suspected fault satellites or not;
(3) after a suspected fault satellite is determined, automatically triggering a medium-caliber antenna, carrying out flash shooting type near-real-time monitoring processing on a measurement domain and a related domain of the suspected fault satellite through a medium-caliber antenna monitoring system, and evaluating whether the satellite is a fault satellite;
(4) after the fault satellite is determined, the large-aperture antenna is automatically triggered, high-precision post-processing of a time domain, a frequency domain, a modulation domain, a correlation domain, a measurement domain, a data domain and a service domain is carried out on satellite signals, and the reason of the satellite fault is determined.
Further, the monitoring station is an iGMAS monitoring station.
Further, the specific mode of the step (2) is as follows:
(201) calculating a pseudo-range jump value and a carrier phase jump value based on the observed value real-time data flow of the monitoring station to the satellite, wherein the calculation mode of the code pseudo-range jump value or the carrier phase jump value of the nth monitoring station is as follows:
Figure BDA0003096028600000021
in the formula, subscript X is code or carrier, code time represents code pseudo range, carrier time represents carrier phase; dPRX,n(t) code pseudorange/carrier phase transition value, PR, at time tX,n(·) represents the code pseudorange/carrier phase measurement at the corresponding time, and N is the number of pseudorange data points for calculating pseudorange reference statistics;
dPR will be mixedX,n(t) value and threshold
Figure BDA0003096028600000022
Comparing, counting to be greater than threshold
Figure BDA0003096028600000023
dPR (g)X,n(i) Number of (CNT)X,dPRCNT when X is code or carrierX,dPRIf the satellite is more than or equal to 3, judging the satellite as a suspected fault satellite;
(202) respectively calculating the observed value of the nth monitoring station at the time T and the time interval T based on the real-time data stream of the observed value of the monitoring station to the satelliteDifference of code pseudo range Δ PRcode,n(T, T + T) and the difference Δ PR in carrier phasecarrier,n(t,t+T)：
Figure BDA0003096028600000031
Calculating the influence value I (t) of the ionosphere on different frequency ranges:
Figure BDA0003096028600000032
in the formula (f)code(t) denotes spreading code frequency, fcarrier(t) represents a carrier frequency;
calculating the code pseudo range and carrier phase deviation of each monitoring station at the time t:
ΔPRcarrier,n(t,t+T)-ΔPRcode,n(t,t+T)-2(I(t+T)-I(t))
the deviation is compared with a threshold value TCCD,nComparing, counting to be larger than threshold value TCCD,nThe number of variations (CNT) of (2)CCDIf CNT isCCDIf the satellite is more than or equal to 3, judging the satellite as a suspected fault satellite;
(203) extracting clock error, clock speed and clock drift rate satellite clock error coefficient a from last hour ephemeris and next hour ephemeris based on ephemeris data real-time data stream of a monitoring stationf0、af1、af2Calculating the broadcast clock difference clk at time t using the following equationeph,n：
clkeph,n＝af0+af1(t-toc)+af2(t-toc)2
Wherein, tocIs a reference time;
in addition, a satellite precision clock error file is obtained, and the Lagrange interpolation method is adopted to calculate the precision clock error clk of a certain satellite at a corresponding momentpre,nAnd calculating a difference dclk between the broadcast clock difference and the precision clock differencen：
dclkn＝clkeph,n-clkpre,n+(dzeph,n-dzpre,n)
In the formula, dzeph,nNumber of Z-direction antenna phase center corrections, dz, for broadcast clock offsetspre,nThe correction number of the phase center of the Z-direction antenna of the precise clock error is obtained;
will dclknValue of (D) and threshold value Tclk,nComparing, counting to be larger than threshold value Tclk,nDclk of (2)nNumber of (CNT)dclkIf CNT isdclkIf the satellite is more than or equal to 3, judging the satellite as a suspected fault satellite;
(204) extracting broadcast orbit parameters from ephemeris data real-time data stream of a monitoring station, and calculating broadcast orbit R of the satelliteeph,n(ii) a In addition, a precise orbit file of the satellite is obtained, and a precise orbit R of the satellite at the corresponding moment is calculatedpre,nAnd calculating in real time the error dR of the broadcast track relative to the precision trackn：
dRn＝Reph,n-(Rpre,n+A·PCOeph,n)
Wherein A is a satellite attitude matrix, PCOeph,nCorrecting the number of the phase center of the satellite antenna adopted by the monitoring station;
will dRnValue of (D) and threshold value TR,nComparing, counting to be larger than threshold value TR,ndR of (2)nNumber of (CNT)dRIf CNT isdRIf the satellite is more than or equal to 3, judging the satellite as a suspected fault satellite;
(205) and (5) repeating the steps (201) to (204) until a suspected fault satellite is detected, and then executing the step (3).
Further, the specific mode of the step (3) is as follows:
(301) after the suspected fault satellite is determined, automatically triggering the medium-caliber antenna, and transmitting the navigation system number and the satellite spread spectrum code number of the suspected fault satellite and the time when the suspected fault satellite is found to a medium-caliber antenna monitoring system to generate a medium-caliber antenna working instruction;
(302) the method comprises the steps that a medium-caliber antenna monitoring system downloads precise forecast ephemeris data, orbit information of a satellite is calculated at the moment when a suspected fault satellite is found according to the navigation system number and the satellite spreading code number of the suspected fault satellite, the pitch angle and the azimuth angle of an antenna are adjusted, a collection frequency point, a bandwidth, a sampling frequency and a sampling rate are determined in a self-adaptive mode, and then a navigation signal of the satellite is collected in a flash mode;
(303) based on the collected navigation signals of the suspected fault satellite, three indexes of the navigation signals, namely related peak distortion, navigation signal power change and message information bit error rate, are calculated;
(304) determining respective threshold values of three indexes based on a space navigation signal interface control file, satellite development requirements and historical threshold value statistical values of the three indexes, and if one index exceeds the threshold value of the index, judging that a suspected fault satellite is a fault satellite; and (4) if the suspected fault is eliminated as the fault satellite, returning to the step (1).
Further, in step (303), the peak distortion P is correlatedDThe calculation method of (2) is as follows:
Figure BDA0003096028600000051
where R (-) is the cross-correlation function between the local pseudo-code and the zero IF signal, τsAnd τeRespectively representing the adopted code phase deviation initial value and the adopted code phase deviation end value, and N represents the adopted code phase deviation delay interval;
navigation signal power variation PCThe calculation method of (2) is as follows:
Figure BDA0003096028600000052
in the formula, P (i) and P (j) represent the signal power corresponding to the i and j time, and K represents the final time adopted in the calculation process;
textual information bit error rate
Figure BDA0003096028600000053
The calculation method comprises the following steps:
Figure BDA0003096028600000054
wherein X represents the radial R, tangential T or normal N of the satellite orbit error,
Figure BDA0003096028600000055
and
Figure BDA0003096028600000056
respectively representing the satellite position estimated by the ground telemetering equipment at the time i and the satellite position in the direction X, N calculated by the satellite ephemeris1The upper limit of the count is set,
Figure BDA0003096028600000057
representing the estimated satellite position of the ground telemetering equipment and a satellite ephemeris calculation satellite position X direction deviation threshold value;
or, text information bit error rate
Figure BDA0003096028600000058
The calculation method comprises the following steps:
Figure BDA0003096028600000059
in the formula (I), the compound is shown in the specification,
Figure BDA0003096028600000061
and
Figure BDA0003096028600000062
respectively representing the X-direction satellite positions computed at time i for the new ephemeris and the old ephemeris,
Figure BDA0003096028600000063
representing the satellite position X direction deviation thresholds calculated for the new ephemeris and the old ephemeris.
Further, in step (304), the specific manner of determining the respective threshold values of the three indexes in step (303) is as follows: acquiring first threshold values of three indexes from a space navigation signal interface control file, acquiring second threshold values of the three indexes from satellite development requirements, and averaging historical threshold value statistics values of all the indexes to obtain third threshold values of the three indexes; and taking the minimum value of the first threshold, the second threshold and the third threshold as the final threshold of each index.
Further, the specific mode of the step (4) is as follows:
(401) after the fault satellite is determined, automatically triggering the large-aperture antenna, and transmitting a navigation system of the fault satellite, a satellite spread spectrum code number and a suspected fault finding moment to a large-aperture antenna monitoring system;
(402) the large-aperture antenna monitoring system downloads precise forecast ephemeris data, calculates the orbit information of the satellite according to the navigation system of the fault satellite, the satellite spread spectrum code number and the suspected fault moment, adjusts the pitch angle and the azimuth angle of the antenna, adaptively determines an acquisition frequency point, a bandwidth, a sampling frequency and a sampling rate, and acquires and stores the navigation signal of the satellite;
(403) performing time domain, frequency domain, modulation domain, correlation domain and measurement domain evaluation on the stored data, wherein the indexes of the frequency domain evaluation comprise a power spectrum, the in-band power of a spread spectrum signal, the in-band power of a single-branch spread spectrum signal, single carrier power and single carrier quality, and the single carrier quality comprises phase noise, carrier suppression, in-band spurious emission, harmonic power and out-of-band power; indexes of the frequency domain evaluation include an eye pattern, a spread spectrum code error rate, a spread spectrum code time domain waveform, signal waveform distortion, a waveform positive level and negative level duration deviation; indexes of the correlation domain evaluation include correlation peaks, correlation losses, SCB curves, constant envelope multiplexing efficiency and phase discriminator slope distortion; the index included in the modulation domain evaluation is a constellation diagram; the indexes of the measurement domain evaluation comprise carrier phase relation, code phase consistency, code-carrier coherence, inter-signal power ratio, error detection of spread spectrum code chips and evaluation of signal power stability;
(404) generating a threshold corresponding to each index item in the step (403) according to the space navigation signal interface control file, the satellite development requirement and the historical threshold statistical value; and (4) comparing each index actually calculated in the step (403) with the threshold value obtained in the step (404), wherein the index item exceeding the threshold value is the fault reason of the navigation satellite.
Further, in step (404), a specific manner of generating the threshold corresponding to each index item in step (403) is as follows: acquiring a first threshold value of each index from a space navigation signal interface control file, acquiring a second threshold value of each index from satellite development requirements, and averaging historical threshold value statistics of each index to obtain a third threshold value of each index; and taking the minimum value of the first threshold, the second threshold and the third threshold as the final threshold of each index.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention fully utilizes the antenna aperture and the signal observation scale triggering type step-by-step switching mechanism, and improves the monitoring coverage and the monitoring efficiency.
2. According to the method, the signal quality is progressively monitored step by utilizing observation scales at different times, the problem of comprehensive monitoring of different dimensions is solved, and the accuracy of GNSS space signal quality monitoring is improved.
Drawings
Fig. 1 is a flowchart of a GNSS space signal quality monitoring and evaluating method according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
A full airspace multistage triggering type GNSS space signal quality monitoring and evaluating method comprises the following steps:
(1) the method comprises the steps that observation data and ephemeris data of GNSS satellites are collected by a monitoring station based on global distribution;
(2) the method comprises the steps of integrating observation data and ephemeris data of all monitoring stations, performing data domain monitoring and evaluation on real-time data streams of global observation satellites, and evaluating whether the satellites are suspected fault satellites or not;
(3) after a suspected fault satellite is determined, automatically triggering a medium-caliber antenna, carrying out flash shooting type near-real-time monitoring processing on a measurement domain and a related domain of the suspected fault satellite through a medium-caliber antenna monitoring system, and evaluating whether the satellite is a fault satellite;
(4) after the fault satellite is determined, the large-aperture antenna is automatically triggered, high-precision post-processing of a time domain, a frequency domain, a modulation domain, a correlation domain, a measurement domain, a data domain and a service domain is carried out on satellite signals, and the cause of the satellite fault is determined.
Further, the monitoring station is an iGMAS monitoring station.
Further, the specific mode of the step (2) is as follows:
(201) calculating a pseudo-range jump value and a carrier phase jump value based on the observed value real-time data flow of the monitoring station to the satellite, wherein the calculation mode of the code pseudo-range jump value or the carrier phase jump value of the nth monitoring station is as follows:
Figure BDA0003096028600000081
in the formula, subscript X is code or carrier, code time represents code pseudo range, carrier time represents carrier phase; dPRX,n(t) code pseudorange/carrier phase transition value, PR, at time tX,n(·) represents the code pseudorange/carrier phase measurement at the corresponding time, and N is the number of pseudorange data points for calculating pseudorange reference statistics;
dPR will be mixedX,n(t) value and threshold
Figure BDA0003096028600000082
Comparing, counting to be greater than threshold
Figure BDA0003096028600000083
dPR (g)X,n(i) Number of (CNT)X,dPRCNT when X is code or carrierX,dPRIf the satellite is more than or equal to 3, judging the satellite as a suspected fault satellite;
(202) respectively calculating the difference delta PR of the code pseudo range of the nth monitoring station under the conditions of time T and time interval T based on the observed value real-time data stream of the monitoring station to the satellitecode,n(T, T + T) and the difference Δ PR in carrier phasecarrier,n(t,t+T)：
Figure BDA0003096028600000091
Calculating the influence value I (t) of the ionosphere on different frequency ranges:
Figure BDA0003096028600000092
in the formula (f)code(t) denotes spreading code frequency, fcarrier(t) represents a carrier frequency;
calculating the code pseudo range and carrier phase deviation of each monitoring station at the time t:
ΔPRcarrier,n(t,t+T)-ΔPRcode,n(t,t+T)-2(I(t+T)-I(t))
the deviation is compared with a threshold value TCCD,nComparing, counting to be larger than threshold value TCCD,nThe number of variations (CNT) of (2)CCDIf CNT isCCDIf the satellite is more than or equal to 3, judging the satellite as a suspected fault satellite;
(203) extracting clock error, clock speed and clock drift rate satellite clock error coefficient a from last hour ephemeris and next hour ephemeris based on ephemeris data real-time data stream of a monitoring stationf0、af1、af2Calculating the broadcast clock difference clk at time t using the following equationeph,n：
clkeph,n＝af0+af1(t-toc)+af2(t-toc)2
Wherein, tocIs a reference time;
in addition, a satellite precision clock error file is obtained, and the Lagrange interpolation method is adopted to calculate the precision clock error clk of a certain satellite at a corresponding momentpre,nAnd calculating a difference dclk between the broadcast clock difference and the precision clock differencen：
dclkn＝clkeph,n-clkpre,n+(dzeph,n-dzpre,n)
In the formula, dzeph,nNumber of Z-direction antenna phase center corrections, dz, for broadcast clock offsetspre,nThe correction number of the phase center of the Z-direction antenna of the precise clock error is obtained;
will dclknValue of (D) and threshold value Tclk,nComparing, counting to be larger than threshold value Tclk,nDclk of (2)nNumber of (CNT)dclkIf CNT isdclkIf the satellite is more than or equal to 3, judging the satellite as a suspected fault satellite;
(204) extracting broadcast orbit parameters from ephemeris data real-time data stream of a monitoring station, and calculating broadcast orbit R of the satelliteeph,n(ii) a In addition, a precise orbit file of the satellite is obtained, and a precise orbit R of the satellite at the corresponding moment is calculatedpre,nAnd calculating in real time the error dR of the broadcast track relative to the precision trackn：
dRn＝Reph,n-(Rpre,n+A·PCOeph,n)
Wherein A is a satellite attitude matrix, PCOeph,nCorrecting the number of phase centers of satellite antennas adopted by a monitoring station;
will dRnValue of (D) and threshold value TR,nComparing, counting to be larger than threshold value TR,ndR of (2)nNumber of (CNT)dRIf CNT isdRIf the satellite is more than or equal to 3, judging the satellite as a suspected fault satellite;
(205) and (5) repeating the steps (201) to (204) until a suspected fault satellite is detected, and then executing the step (3).
Further, the specific mode of the step (3) is as follows:
(301) after the suspected fault satellite is determined, automatically triggering the medium-caliber antenna, and transmitting the navigation system number and the satellite spread spectrum code number of the suspected fault satellite and the time when the suspected fault satellite is found to a medium-caliber antenna monitoring system to generate a medium-caliber antenna working instruction;
(302) the method comprises the steps that a medium-caliber antenna monitoring system downloads precise forecast ephemeris data, orbit information of a satellite is calculated at the moment when a suspected fault satellite is found according to the navigation system number and the satellite spreading code number of the suspected fault satellite, the pitch angle and the azimuth angle of an antenna are adjusted, a collection frequency point, a bandwidth, a sampling frequency and a sampling rate are determined in a self-adaptive mode, and then a navigation signal of the satellite is collected in a flash mode;
(303) based on the acquired navigation signals of the suspected fault satellite, three indexes of the navigation signals, namely related peak distortion, navigation signal power change and message information bit error rate, are calculated;
(304) determining respective threshold values of three indexes based on a space navigation signal interface control file, satellite development requirements and historical threshold value statistical values of the three indexes, and if one index exceeds the threshold value of the index, judging that a suspected fault satellite is a fault satellite; and (4) if the suspected fault is eliminated as the fault satellite, returning to the step (1).
Further, in step (303), the distortion P of the correlation peakDThe calculation method of (2) is as follows:
Figure BDA0003096028600000111
where R (-) is the cross-correlation function between the local pseudo-code and the zero IF signal, τsAnd τeRespectively representing the adopted code phase deviation initial value and the adopted code phase deviation end value, and N represents the adopted code phase deviation delay interval;
navigation signal power variation PCThe calculation method of (2) is as follows:
Figure BDA0003096028600000112
in the formula, P (i) and P (j) represent the signal power corresponding to the i and j time, and K represents the final time adopted in the calculation process;
textual information bit error rate
Figure BDA0003096028600000113
The calculation method comprises the following steps:
Figure BDA0003096028600000114
wherein X represents the radial R, tangential T or normal N of the satellite orbit error,
Figure BDA0003096028600000115
and
Figure BDA0003096028600000116
respectively representing the satellite position estimated by the ground telemetering equipment at the time i and the satellite position in the direction X, N calculated by the satellite ephemeris1The upper limit of the count is set,
Figure BDA0003096028600000117
representing the estimated satellite position of the ground telemetering equipment and a satellite ephemeris calculation satellite position X direction deviation threshold value;
or, text information bit error rate
Figure BDA0003096028600000118
The calculation method comprises the following steps:
Figure BDA0003096028600000119
in the formula (I), the compound is shown in the specification,
Figure BDA00030960286000001110
and
Figure BDA00030960286000001111
respectively representing the X-direction satellite positions computed at time i for the new ephemeris and the old ephemeris,
Figure BDA00030960286000001112
representing the satellite position X direction deviation thresholds calculated for the new ephemeris and the old ephemeris.
Further, in step (304), the specific manner of determining the respective threshold values of the three indexes in step (303) is as follows: acquiring first threshold values of three indexes from a space navigation signal interface control file, acquiring second threshold values of the three indexes from satellite development requirements, and averaging historical threshold value statistics values of all the indexes to obtain third threshold values of the three indexes; and taking the minimum value of the first threshold, the second threshold and the third threshold as the final threshold of each index.
Further, the specific mode of the step (4) is as follows:
(401) after the fault satellite is determined, automatically triggering the large-aperture antenna, and transmitting a navigation system of the fault satellite, a satellite spread spectrum code number and a suspected fault finding moment to a large-aperture antenna monitoring system;
(402) the large-aperture antenna monitoring system downloads precise forecast ephemeris data, calculates the orbit information of the satellite according to the navigation system of the fault satellite, the satellite spread spectrum code number and the suspected fault moment, adjusts the pitch angle and the azimuth angle of the antenna, adaptively determines an acquisition frequency point, a bandwidth, a sampling frequency and a sampling rate, and acquires and stores the navigation signal of the satellite;
(403) performing time domain, frequency domain, modulation domain, correlation domain and measurement domain evaluation on the stored data, wherein the indexes of the frequency domain evaluation comprise a power spectrum, the in-band power of a spread spectrum signal, the in-band power of a single-branch spread spectrum signal, single carrier power and single carrier quality, and the single carrier quality comprises phase noise, carrier suppression, in-band spurious emission, harmonic power and out-of-band power; indexes of the frequency domain evaluation include an eye pattern, a spread spectrum code error rate, a spread spectrum code time domain waveform, signal waveform distortion, a waveform positive level and negative level duration deviation; indexes of the correlation domain evaluation include correlation peaks, correlation losses, SCB curves, constant envelope multiplexing efficiency and phase discriminator slope distortion; the index included in the modulation domain evaluation is a constellation diagram; the indexes of the measurement domain evaluation comprise carrier phase relation, code phase consistency, code-carrier coherence, inter-signal power ratio, error detection of spread spectrum code chips and evaluation of signal power stability;
(404) generating a threshold corresponding to each index item in the step (403) according to the space navigation signal interface control file, the satellite development requirement and the historical threshold statistical value; and (4) comparing each index actually calculated in the step (403) with the threshold value obtained in the step (404), wherein the index item exceeding the threshold value is the fault reason of the navigation satellite.
Further, in step (404), a specific manner of generating the threshold corresponding to each index item in step (403) is as follows: acquiring a first threshold value of each index from a space navigation signal interface control file, acquiring a second threshold value of each index from satellite development requirements, and averaging historical threshold value statistics of each index to obtain a third threshold value of each index; and taking the minimum value of the first threshold, the second threshold and the third threshold as the final threshold of each index.
The method realizes the organic cooperative work of the omnidirectional antenna, the medium-caliber antenna and the large-caliber antenna in the full airspace, the real-time flow processing, the flash type quasi-real-time processing and the playback type post-processing of the GNSS navigation signals, the automatic triggering and the self-adaption determination of the operation parameters among the multiple modes do not need human intervention, and the rapid and accurate monitoring and evaluation of the navigation signals in complex constellations, complex signals and complex environments have great advantages.
The following is a more specific example:
a full airspace multistage triggering type GNSS space signal quality monitoring and evaluating method is characterized in that observation data and ephemeris data of satellites are collected based on monitoring stations distributed all over the world, observation data and ephemeris data of the monitoring stations distributed all over the world are integrated, class III monitoring is carried out to find suspected faulty satellites, class II monitoring is carried out to determine faulty satellites, and satellite fault reasons are determined through class I monitoring. As shown in fig. 1, the method comprises the steps of:
(1) GNSS observation data and ephemeris data collected by 23 iGMAS tracking stations deployed globally are adopted;
(2) iGMAS and deployed special monitoring station observation value real-time data flow based station number, CNT (carbon nanotube) with abnormal pseudo-range and carrier hoppingCarrier,dPR＜3，CNTCode,dPRIf the satellite is less than 3, judging the Galileo satellite E03 as a normal satellite;
respectively calculating whether the difference between satellite code pseudo-ranges and carrier pseudo-ranges of a plurality of monitoring stations is abnormal or not at a certain time interval T at time T based on iGMAS and observation value real-time data flow of a special monitoring station for deployment, and CNTdPR＝9，CNTdPRIf the satellite number is more than 3, judging the Galileo satellite E03 as a suspected abnormal satellite;
calculating satellite clock error abnormal data from last hour ephemeris and next hour ephemeris based on iGMAS monitoring station ephemeris data real-time data stream, CNTdclk＝9，CNTdclkIf the satellite number is more than 3, judging the Galileo satellite E03 as a suspected abnormal satellite;
real-time data stream based on iGMAS monitoring station and ephemeris data of special monitoring station for deploymentFrom the last hour ephemeris and the next hour ephemeris satellite clock error anomaly data are calculated, CNTdRWhen the satellite is 12, the Galileo satellite E03 is determined to be a suspected abnormal satellite.
(3) And (2) carrying out detection on suspected fault satellites Galileo, PRN03 and UTC 2020 by 07, 12 and 22: 00: 00 is transmitted to a medium-caliber antenna monitoring system and triggers the medium-caliber antenna to work.
Downloading precise prediction ephemeris data, calculating satellite orbit information, adjusting the pitch angle and the azimuth angle of an antenna, adaptively determining parameters of a collection frequency point, bandwidth, sampling interval and sampling rate to be 1575.42MHz, 24.522MHz, 5s and 30MHz respectively, and collecting signals.
And carrying out quasi-real-time processing on the acquired signals, calculating the related peak distortion rate, the navigation signal deviation, the navigation signal message symbol error rate and the message information bit error rate to be 5.62%, 1.55dB, 100% and 100% respectively, and determining that the E03 satellite is determined to be a fault satellite.
(4) And (3) mixing the failure satellite Galileo, PRN03 and UTC 2020, 07/12/22: 00: 00 is transmitted to a large-caliber antenna monitoring system, and the large-caliber antenna is triggered to work.
Downloading precise prediction ephemeris data, calculating satellite orbit information, adjusting the pitch angle and the azimuth angle of an antenna, adaptively determining acquisition frequency points, bandwidth, sampling intervals, sampling rates and sampling duration to be 1575.42MHz, 24.522MHz, 0s, 2GHz and 10s respectively, acquiring signals and storing the acquired data.
And evaluating the stored data in a time domain, a frequency domain, a modulation domain, a correlation domain, a measurement domain, a data domain and a service domain, comparing and analyzing the data with a monitoring evaluation template, wherein the time domain, the frequency domain, the modulation domain, the correlation domain and the measurement domain are normal, indexes of the data domain and the service domain are abnormal, and E03 satellite telegraph text is not transmitted.
The method can quickly and accurately evaluate the quality of the GNSS space signal, can realize the GNSS full-system monitoring in the global range by utilizing the monitoring stations distributed in the global, and meets the requirement of quickly discovering the full-airspace fault. Meanwhile, the method adopts a multi-stage triggering type antenna aperture switching mode, effectively guarantees seamless fault tracking from discovery, confirmation to cause analysis, and can effectively solve the problem that the monitoring range, the monitoring efficiency and the monitoring quality of the traditional monitoring method are contradictory, thereby simultaneously meeting the application requirements of complete monitoring coverage, precise monitoring processing and high monitoring speed.

Claims (7)

1. A full airspace multistage triggering type GNSS space signal quality monitoring and evaluating method is characterized by comprising the following steps:
(1) the method comprises the steps that observation data and ephemeris data of GNSS satellites are collected by a monitoring station based on global distribution;
(2) the method comprises the steps of integrating observation data and ephemeris data of all monitoring stations, performing data domain monitoring and evaluation on real-time data streams of global observation satellites, and evaluating whether the satellites are suspected fault satellites or not;
(3) after a suspected fault satellite is determined, automatically triggering a medium-caliber antenna, carrying out flash shooting type near-real-time monitoring processing on a measurement domain and a related domain of the suspected fault satellite through a medium-caliber antenna monitoring system, and evaluating whether the satellite is a fault satellite; the concrete mode is as follows:
(301) after the suspected fault satellite is determined, automatically triggering the medium-caliber antenna, and transmitting the navigation system number and the satellite spread spectrum code number of the suspected fault satellite and the time when the suspected fault satellite is found to a medium-caliber antenna monitoring system to generate a medium-caliber antenna working instruction;
(302) the method comprises the steps that a medium-caliber antenna monitoring system downloads precise forecast ephemeris data, orbit information of a satellite is calculated at the moment when a suspected fault satellite is found according to the navigation system number and the satellite spreading code number of the suspected fault satellite, the pitch angle and the azimuth angle of an antenna are adjusted, a collection frequency point, a bandwidth, a sampling frequency and a sampling rate are determined in a self-adaptive mode, and then a navigation signal of the satellite is collected in a flash mode;
(303) based on the collected navigation signals of the suspected fault satellite, three indexes of the navigation signals, namely related peak distortion, navigation signal power change and message information bit error rate, are calculated;
(304) determining respective threshold values of three indexes based on a space navigation signal interface control file, satellite development requirements and historical threshold value statistical values of the three indexes, and if one index exceeds the threshold value of the index, judging that a suspected fault satellite is a fault satellite; if the suspected fault is eliminated and is a fault satellite, returning to the step (1);
(4) after the fault satellite is determined, the large-aperture antenna is automatically triggered, high-precision post-processing of a time domain, a frequency domain, a modulation domain, a correlation domain, a measurement domain, a data domain and a service domain is carried out on satellite signals, and the reason of the satellite fault is determined.
2. The method for monitoring and evaluating the quality of the full-airspace multistage triggered GNSS spatial signal according to claim 1, wherein the monitoring station is an iGMAS monitoring station.
3. The method for monitoring and evaluating the quality of the full-airspace multistage triggered GNSS spatial signal according to claim 1, wherein the specific manner of the step (2) is as follows:
(201) calculating a pseudo-range jump value and a carrier phase jump value based on the observed value real-time data flow of the monitoring station to the satellite, wherein the calculation mode of the code pseudo-range jump value or the carrier phase jump value of the nth monitoring station is as follows:
Figure FDA0003568737870000021
in the formula, subscript X is code or carrier, code time represents code pseudo range, carrier time represents carrier phase; dPRX,n(t) code pseudorange/carrier phase transition value, PR, at time tX,n(·) represents the code pseudorange/carrier phase measurement at the corresponding time, and N is the number of pseudorange data points for calculating pseudorange reference statistics;
dPR will be mixedX,n(t) value and threshold
Figure FDA0003568737870000024
Comparing, counting to be greater than threshold
Figure FDA0003568737870000025
dPR (g)X,n(i) Number of (CNT)X,dPRCNT when X is code or carrierX,dPRIf the satellite is more than or equal to 3, judging the satellite as a suspected fault satellite;
(202) respectively calculating the difference delta PR of the code pseudo range of the nth monitoring station under the conditions of time T and time interval T based on the observed value real-time data stream of the monitoring station to the satellitecode,n(T, T + T) and the difference Δ PR in carrier phasecarrier,n(t,t+T)：
Figure FDA0003568737870000022
Calculating the influence value I (t) of the ionosphere on different frequency ranges:
Figure FDA0003568737870000023
in the formula (f)code(t) denotes spreading code frequency, fcarrier(t) represents a carrier frequency;
calculating the code pseudo range and carrier phase deviation of each monitoring station at the time t:
ΔPRcarrier,n(t,t+T)-ΔPRcode,n(t,t+T)-2(I(t+T)-I(t))
the deviation is compared with a threshold value TCCD,nComparing, counting to be larger than threshold value TCCD,nThe number of variations (CNT) of (2)CCDIf CNT isCCDIf the satellite is more than or equal to 3, judging the satellite as a suspected fault satellite;
(203) extracting clock error, clock speed and clock drift rate satellite clock error coefficient a from last hour ephemeris and next hour ephemeris based on ephemeris data real-time data stream of a monitoring stationf0、af1、af2Calculating the broadcast clock difference clk at time t using the following equationeph,n：
clkeph,n＝af0+af1(t-toc)+af2(t-toc)2
Wherein, tocIs a reference time;
in addition, a satellite precision clock is acquiredCalculating the precise clock error clk of a satellite at a corresponding moment by using a Lagrange interpolation methodpre,nAnd calculating a difference dclk between the broadcast clock difference and the precision clock differencen：
dclkn＝clkeph,n-clkpre,n+(dzeph,n-dzpre,n)
In the formula, dzeph,nNumber of Z-direction antenna phase center corrections, dz, for broadcast clock offsetspre,nThe correction number of the phase center of the Z-direction antenna of the precise clock error is obtained;
dclk will benValue of (D) and threshold value Tclk,nComparing, counting the number of the samples larger than a threshold value Tclk,nDclk of (2)nNumber of (CNT)dclkIf CNT isdclkIf the satellite is more than or equal to 3, judging the satellite as a suspected fault satellite;
(204) extracting broadcast orbit parameters from ephemeris data real-time data stream of a monitoring station, and calculating broadcast orbit R of the satelliteeph,n(ii) a In addition, a precise orbit file of the satellite is obtained, and a precise orbit R of the satellite at the corresponding moment is calculatedpre,nAnd calculating in real time the error dR of the broadcast track relative to the precision trackn：
Figure FDA0003568737870000031
Wherein A is a satellite attitude matrix, PCOeph,nCorrecting the number of the phase center of the satellite antenna adopted by the monitoring station;
will dRnValue of (D) and threshold value TR,nComparing, counting to be larger than threshold value TR,ndR of (2)nNumber of (CNT)dRIf CNT isdRIf the satellite is more than or equal to 3, judging the satellite to be a suspected fault satellite;
(205) and (5) repeating the steps (201) to (204) until a suspected fault satellite is detected, and then executing the step (3).
4. The method as claimed in claim 1, wherein in step (303), the correlation peak distortion P is determinedDThe calculation method of (2) is as follows:
Figure FDA0003568737870000041
in the formula (I), the compound is shown in the specification,
Figure FDA0003568737870000048
for the cross-correlation function between the local pseudo-code and the zero intermediate frequency signal, tausAnd τeRespectively representing the adopted code phase deviation initial value and the adopted code phase deviation end value, and N represents the adopted code phase deviation delay interval;
navigation signal power variation PCThe calculation method of (2) is as follows:
Figure FDA0003568737870000042
in the formula, P (i) and P (j) represent the signal power corresponding to the i and j time, and K represents the final time adopted in the calculation process;
textual information bit error rate
Figure FDA0003568737870000043
The calculation method comprises the following steps:
Figure FDA0003568737870000044
wherein X represents the radial R, tangential T or normal N of the satellite orbit error,
Figure FDA0003568737870000045
and
Figure FDA0003568737870000046
respectively representing the satellite position estimated by the ground telemetering equipment at the time i and the satellite position in the direction X, N calculated by the satellite ephemeris1The upper limit of the count is set,
Figure FDA0003568737870000047
representing the estimated satellite position of the ground telemetering equipment and a satellite ephemeris calculation satellite position X direction deviation threshold value;
or, text information bit error rate
Figure FDA0003568737870000051
The calculation method comprises the following steps:
Figure FDA0003568737870000052
in the formula (I), the compound is shown in the specification,
Figure FDA0003568737870000053
and
Figure FDA0003568737870000054
respectively representing the X-direction satellite positions computed at time i for the new ephemeris and the old ephemeris,
Figure FDA0003568737870000055
representing the satellite position X direction deviation thresholds calculated for the new ephemeris and the old ephemeris.
5. The method for monitoring and evaluating the quality of the full-airspace multistage triggered GNSS spatial signal according to claim 1, wherein in step (304), the specific manner for determining the respective threshold values of the three indicators in step (303) is as follows: acquiring first threshold values of three indexes from a space navigation signal interface control file, acquiring second threshold values of the three indexes from satellite development requirements, and averaging historical threshold value statistics values of all the indexes to obtain third threshold values of the three indexes; and taking the minimum value of the first threshold, the second threshold and the third threshold as the final threshold of each index.
6. The method for monitoring and evaluating the quality of the full-airspace multistage triggered GNSS spatial signal according to claim 1, wherein the specific manner of the step (4) is as follows:
(401) after the fault satellite is determined, automatically triggering the large-aperture antenna, and transmitting a navigation system of the fault satellite, a satellite spread spectrum code number and a suspected fault finding moment to a large-aperture antenna monitoring system;
(402) the large-aperture antenna monitoring system downloads precise forecast ephemeris data, calculates the orbit information of the satellite according to the navigation system of the fault satellite, the satellite spread spectrum code number and the suspected fault moment, adjusts the pitch angle and the azimuth angle of the antenna, adaptively determines an acquisition frequency point, a bandwidth, a sampling frequency and a sampling rate, and acquires and stores the navigation signal of the satellite;
(403) performing time domain, frequency domain, modulation domain, correlation domain and measurement domain evaluation on the stored data, wherein the indexes of the frequency domain evaluation comprise a power spectrum, the in-band power of a spread spectrum signal, the in-band power of a single-branch spread spectrum signal, single carrier power and single carrier quality, and the single carrier quality comprises phase noise, carrier suppression, in-band spurious emission, harmonic power and out-of-band power; indexes of the frequency domain evaluation include an eye pattern, a spread spectrum code error rate, a spread spectrum code time domain waveform, signal waveform distortion, a waveform positive level and negative level duration deviation; indexes of the correlation domain evaluation include correlation peaks, correlation losses, SCB curves, constant envelope multiplexing efficiency and phase discriminator slope distortion; the index included in the modulation domain evaluation is a constellation diagram; the indexes of the measurement domain evaluation comprise carrier phase relation, code phase consistency, code-carrier coherence, inter-signal power ratio, error detection of spread spectrum code chips and evaluation of signal power stability;
(404) generating a threshold corresponding to each index item in the step (403) according to the space navigation signal interface control file, the satellite development requirement and the historical threshold statistical value; and (4) comparing each index actually calculated in the step (403) with the threshold value obtained in the step (404), wherein the index item exceeding the threshold value is the fault reason of the navigation satellite.
7. The method for monitoring and evaluating the quality of the full-airspace multistage triggered GNSS spatial signal according to claim 6, wherein in the step (404), the specific way of generating the threshold corresponding to each index item in the step (403) is as follows: acquiring a first threshold value of each index from a space navigation signal interface control file, acquiring a second threshold value of each index from satellite development requirements, and averaging historical threshold value statistics of each index to obtain a third threshold value of each index; and taking the minimum value of the first threshold, the second threshold and the third threshold as the final threshold of each index.
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